四旋翼无人机姿态角控制系统设计  

Design of attitude angle control system for quadrotor

作　　者：李果[1] 冯晓明 陈浩 

机构地区：[1]北京科技大学自动化学院,北京100083

出　　处：《北京信息科技大学学报（自然科学版）》2018年第1期1-9,共9页Journal of Beijing Information Science and Technology University

基　　金：汽车动态模拟国家重点实验室开放基金资助项目(20091101)

摘　　要：提出了一种基于遗传优化的自抗扰非奇异快速终端滑模控制算法,解决四旋翼的姿态角控制系统问题。运用滑模控制的思想构造滑模面,引入终端滑模策略,将滑模面改造成非线性结构,利用指数函数的特点使得终端滑模非奇异,并且更快收敛。通过运用自抗扰控制思想加强系统对于内外扰动的抗干扰稳定性。利用遗传算法,进化控制器的参数至最佳控制指标组合的值。仿真和实验结果证明提出的控制系统正确可行,既具备滑模控制的鲁棒性又吸取了自抗扰控制对于内外部扰动稳定的优点,同时能够对控制器的参数进行迭代进化。This article designs the active-disturbance-rejection nonsingular fast terminal slidingmode controller based on genetic algorithm,which has the advantages of both sliding-mode controller＇s robustness and the ADRC＇s stability for internal and external disturbance. According to the quadrotor＇s characteristic of strong robustness,the sliding-mode surface is constructed by considering the idea of sliding-mode control,and is introduced into the nonlinear structure,which has faster convergence.Through using ADRC idea the stability for internal and external disturbance is strengthened. The controller＇s parameter can be optimized iteratively by the genetic algorithm. The quadrotor＇s control characteristics of attitude angle and height are simulated and the dynamic and static performance proves the feasibility accordingly,which verifies the effectiveness of the designed controller.

关 键 词：四旋翼无人机 姿态角 终端滑模 自抗扰 遗传算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]